3 files changed, 33 insertions, 25 deletions

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index 6e4e41f..865180f 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -740,6 +740,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             if (Shell != IntPtr.Zero)
             {
                 _parent_scene.geom_name_map.Remove(Shell);
+                _parent_scene.actor_name_map.Remove(Shell);
                 _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
                 d.GeomDestroy(Shell);
                 Shell = IntPtr.Zero;
@@ -1188,6 +1189,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }
                 else
                 {
+                    _parent_scene.RemoveCollisionEventReporting(this);
                     _parent_scene.RemoveCharacter(this);
                     // destroy avatar capsule and related ODE data
                     AvatarGeomAndBodyDestroy();
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index 14e4272..ff17a6e 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -943,6 +943,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                 CollisionEventsThisFrame = null;

             }

             m_eventsubscription = 0;

+            // for now still done on odescene

+//            _parent_scene.RemoveCollisionEventReporting(this);

         }

 

         public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index d5938f4..7848b35 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -175,7 +175,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
         const float MaxERP = 0.8f;
-        const float minERP = 0.2f;
+        const float minERP = 0.1f;
         const float comumContactCFM = 0.0001f;
         
         float frictionMovementMult = 0.8f;
@@ -237,20 +237,20 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         private d.NearCallback nearCallback;
 
-        private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
-        private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
-        private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
-        private readonly HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
+        private HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
+        private HashSet<OdePrim> _prims = new HashSet<OdePrim>();
+        private HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
+        private HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
 
         public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>();
 
         /// <summary>
         /// A list of actors that should receive collision events.
         /// </summary>
-        private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
-        private readonly List<PhysicsActor> _collisionEventPrimRemove = new List<PhysicsActor>();
+        private List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
+        private List<PhysicsActor> _collisionEventPrimRemove = new List<PhysicsActor>();
         
-        private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
+        private HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
         public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
         public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
 
@@ -264,26 +264,21 @@ namespace OpenSim.Region.Physics.OdePlugin
         private volatile int m_global_contactcount = 0;
 
 
-        private readonly IntPtr contactgroup;
+        private IntPtr contactgroup;
 
         public ContactData[] m_materialContactsData = new ContactData[8];
 
-        private readonly Dictionary<Vector3, IntPtr> RegionTerrain = new Dictionary<Vector3, IntPtr>();
-        private readonly Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
-        private readonly Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
+        private Dictionary<Vector3, IntPtr> RegionTerrain = new Dictionary<Vector3, IntPtr>();
+        private Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
+        private Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
        
         private int m_physicsiterations = 10;
         private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
-        private readonly PhysicsActor PANull = new NullPhysicsActor();
+        private PhysicsActor PANull = new NullPhysicsActor();
         private float step_time = 0.0f;
 
         public IntPtr world;
 
-        private uint obj2LocalID = 0;
-        private OdeCharacter cc1;
-        private OdePrim cp1;
-        private OdeCharacter cc2;
-        private OdePrim cp2;
 
         // split the spaces acording to contents type
         // ActiveSpace contains characters and active prims
@@ -921,8 +916,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                             cfm = 0.0001f / cfm;
                             if (cfm > 0.01f)
                                 cfm = 0.01f;
-                            else if (cfm < 0.0001f)
-                                cfm = 0.0001f;
+                            else if (cfm < 0.00001f)
+                                cfm = 0.00001f;
 
                             if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
                                 mu *= frictionMovementMult;
@@ -949,8 +944,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                                     cfm = 0.0001f / cfm;
                                     if (cfm > 0.01f)
                                         cfm = 0.01f;
-                                    else if (cfm < 0.0001f)
-                                        cfm = 0.0001f;
+                                    else if (cfm < 0.00001f)
+                                        cfm = 0.00001f;
 
                                     if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass)
                                     {
@@ -993,6 +988,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 cfm = 0.0001f / cfm;
                                 if (cfm > 0.01f)
                                     cfm = 0.01f;
+                                else if (cfm < 0.00001f)
+                                    cfm = 0.00001f;
 
                                 if (curContact.side1 > 0) // should be 2 ?
                                     IgnoreNegSides = true;
@@ -1159,7 +1156,13 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
             {
-            obj2LocalID = 0;
+            
+            OdeCharacter cc1;
+            OdePrim cp1;
+            OdeCharacter cc2;
+            OdePrim cp2;
+
+            uint obj2LocalID = 0;
             bool p1events = p1.SubscribedEvents();
             bool p2events = p2.SubscribedEvents();
            
@@ -1963,6 +1966,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 {
                                     RemoveCharacter(defect);
                                 }
+                                defects.Clear();
                             }
                         }
 
@@ -2068,13 +2072,13 @@ namespace OpenSim.Region.Physics.OdePlugin
                         _badCharacter.Clear();
                     }
                 }
-
+/*
                 int nactivegeoms = d.SpaceGetNumGeoms(ActiveSpace);
                 int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);
                 int ntopgeoms = d.SpaceGetNumGeoms(TopSpace);
                 int nbodies = d.NTotalBodies;
                 int ngeoms = d.NTotalGeoms;
-
+*/
                 // Finished with all sim stepping. If requested, dump world state to file for debugging.
                 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
                 // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?